Improve corner cases and error messages #106
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…n, since not to be set by the user
- changed to contactSphereRadius::Uniion{Nothing,Number} (e.g. Int is also allowed).
- contactSphereRadius <= 0 is the same as contactSphereRadius = nothing.
… has no degrees of freedom.
…Material in Visual(..) improved to handle corner cases: - SolidMaterial=="" is treated as SolidMaterial = nothing - VisualMaterial=="" is treated as Shapes.VisualMaterial() - massProperties==nothing && solidMaterial==nothing is treated as MassProperties(), that is massless.
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Model3D(..) with no degrees of freedom is now supported (previously, an error was triggered).
Massless solid is now supported (previously, an error was triggered if Solid(..) had zero mass).
SolidMaterial, MassProperties, VisualMaterial in Solid(..) and VisualMaterial in Visual(..) improved to handle corner cases:
Error message improved, if closed kinematic loop is detected. Especially, the names of all Object3Ds in the kinematic loop are printed.
Error message improved, if no Scene is defined.
solid(..., contactSphereRadius::Union{Nothing,FloatType}=xxx) improved:
Removed keyword "path" from the docu of Prismatic, Revolute, FreeMotion, since not to be set by the user (path is set when calling Model3D(..) to store the absolute path name in the joint).